From 1dc4a722db5fbf3f270eb41e17208ad2734ac98c Mon Sep 17 00:00:00 2001 From: Philipp Kramer Date: Wed, 8 May 2024 16:53:58 +0200 Subject: [PATCH] add readme with setup instructions --- README.md | 29 +++++++++++++++++++++++++++++ requirements.txt | 2 ++ 2 files changed, 31 insertions(+) create mode 100644 README.md create mode 100644 requirements.txt diff --git a/README.md b/README.md new file mode 100644 index 0000000..5a26087 --- /dev/null +++ b/README.md @@ -0,0 +1,29 @@ +# UR Control + +## Requirements + +Python 3.10 needed. See python wheels support matrix for ur_rtde https://pypi.org/project/ur-rtde/ +Virtualenv recommended. Install modules with `pip install -r requirements.txt` + +URCap for Network control on Polyscope. Download: https://github.com/UniversalRobots/Universal_Robots_ExternalControl_URCap/releases +Tested with Version 1.0.5 on Polyscope 5.16.0 +Installation Instructions: https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/install_urcap_e_series.md + +### Install URCap in Simulator +URSim 5.16.0 inside VirtualBox. +Transfer donwloaded URCap via USB Thumbdrive to Programs UR10 folder on the virtual machine. +If error verr_pdm_no_usb_ports appreas, change USB Controller in VBox settings to USB-3.0-Controller (xHCI) + +If resolution is too low, change it with `xrandr -s 1440x900` + +To be able to reach the VM via network, set adapter to Bridge and promicious mode to allow all. + +Follow instructions on how to setup externalControl: https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/install_urcap_e_series.md + +Enable Remote Control: Settings - System - Remote Control - Enable +Run Program with the externalControl once. Error "Receive program failed" occurs. Stop Program. Not sure if this is needed, but RTDEControlInterface was not able to connect otherwise. +In main menu change from "local" to "remote control" in the top right corner. + +## Misc + +RTDEReceive works without enabling remote control. \ No newline at end of file diff --git a/requirements.txt b/requirements.txt new file mode 100644 index 0000000..42c7ca6 --- /dev/null +++ b/requirements.txt @@ -0,0 +1,2 @@ +ur_rtde +numpy